Declares a class that represents a Probability Density function (PDF) of a 2D pose
This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPosePDF for more details.
Definition at line 32 of file CPosePDFGaussian.h.
#include <mrpt/poses/CPosePDFGaussian.h>
Public Types | |
enum | { is_3D_val = 0 } |
enum | { is_PDF_val = 1 } |
typedef CPose2D | type_value |
The type of the state the PDF represents. | |
Public Member Functions | |
const CPose2D & | getPoseMean () const |
CPose2D & | getPoseMean () |
CPosePDFGaussian () | |
Default constructor. | |
CPosePDFGaussian (const CPose2D &init_Mean) | |
Constructor. | |
CPosePDFGaussian (const CPose2D &init_Mean, const mrpt::math::CMatrixDouble33 &init_Cov) | |
Constructor. | |
CPosePDFGaussian (const CPosePDF &o) | |
Copy constructor, including transformations between other PDFs. | |
CPosePDFGaussian (const CPose3DPDF &o) | |
Copy constructor, including transformations between other PDFs. | |
void | getMean (CPose2D &mean_pose) const MRPT_OVERRIDE |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). | |
void | getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const MRPT_OVERRIDE |
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. | |
void | copyFrom (const CPosePDF &o) MRPT_OVERRIDE |
Copy operator, translating if necesary (for example, between particles and gaussian representations) | |
void | copyFrom (const CPose3DPDF &o) |
Copy operator, translating if necesary (for example, between particles and gaussian representations) | |
void | saveToTextFile (const std::string &file) const MRPT_OVERRIDE |
Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE |
this = p (+) this. | |
void | changeCoordinatesReference (const CPose2D &newReferenceBase) |
this = p (+) this. | |
void | rotateCov (const double ang) |
Rotate the covariance matrix by replacing it by ![]() ![]() | |
void | inverseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &ref) |
Set ![]() | |
void | inverseComposition (const CPosePDFGaussian &x1, const CPosePDFGaussian &x0, const mrpt::math::CMatrixDouble33 &COV_01) |
Set ![]() | |
void | drawSingleSample (CPose2D &outPart) const MRPT_OVERRIDE |
Draws a single sample from the distribution. | |
void | drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const MRPT_OVERRIDE |
Draws a number of samples from the distribution, and saves as a list of 1x3 vectors, where each row contains a (x,y,phi) datum. | |
void | bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE |
Bayesian fusion of two points gauss. | |
void | inverse (CPosePDF &o) const MRPT_OVERRIDE |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. | |
void | operator+= (const CPose2D &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). | |
double | evaluatePDF (const CPose2D &x) const |
Evaluates the PDF at a given point. | |
double | evaluateNormalizedPDF (const CPose2D &x) const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. | |
double | mahalanobisDistanceTo (const CPosePDFGaussian &theOther) |
Computes the Mahalanobis distance between the centers of two Gaussians. | |
void | assureMinCovariance (const double &minStdXY, const double &minStdPhi) |
Substitutes the diagonal elements if (square) they are below some given minimum values (Use this before bayesianFusion, for example, to avoid inversion of singular matrixes, etc...) | |
void | operator+= (const CPosePDFGaussian &Ap) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). | |
void | operator-= (const CPosePDFGaussian &ref) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated) | |
void | composePoint (const mrpt::math::TPoint2D &l, CPoint2DPDFGaussian &g) const |
Returns the PDF of the 2D point ![]() | |
template<class OPENGL_SETOFOBJECTSPTR > | |
void | getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const |
Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list) | |
template<class OPENGL_SETOFOBJECTSPTR > | |
OPENGL_SETOFOBJECTSPTR | getAs3DObject () const |
Returns a 3D representation of this PDF. | |
virtual void | getMean (CPose2D &mean_point) const=0 |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). | |
virtual void | getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose2D &mean_point) const=0 |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. | |
void | getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPose2D &mean_point) const |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. | |
CPose2D | getMeanVal () const |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). | |
void | getCovariance (mrpt::math::CMatrixDouble &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) | |
void | getCovariance (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) | |
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | getCovariance () const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) | |
virtual void | getInformationMatrix (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &inf) const |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. | |
virtual void | drawSingleSample (CPose2D &outPart) const=0 |
Draws a single sample from the distribution. | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. | |
Static Public Member Functions | |
static void | jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true) |
This static method computes the pose composition Jacobians, with these formulas: | |
static void | jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
static bool | is_3D () |
static bool | is_PDF () |
Public Attributes | |
Data fields | |
CPose2D | mean |
The mean value. | |
mrpt::math::CMatrixDouble33 | cov |
The 3x3 covariance matrix. | |
Static Public Attributes | |
static const size_t | state_length |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). | |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCPosePDF |
Protected Member Functions | |
void | assureSymmetry () |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
RTTI stuff <br> | |
typedef CPosePDFGaussianPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPosePDFGaussian |
static mrpt::utils::TRuntimeClassId | classCPosePDFGaussian |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CPosePDFGaussianPtr | Create () |
A typedef for the associated smart pointer
Definition at line 35 of file CPosePDFGaussian.h.
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inherited |
The type of the state the PDF represents.
Definition at line 32 of file CProbabilityDensityFunction.h.
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inherited |
Enumerator | |
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is_3D_val |
Definition at line 91 of file CPosePDF.h.
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inherited |
Enumerator | |
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is_PDF_val |
Definition at line 93 of file CPosePDF.h.
mrpt::poses::CPosePDFGaussian::CPosePDFGaussian | ( | ) |
Default constructor.
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explicit |
Constructor.
mrpt::poses::CPosePDFGaussian::CPosePDFGaussian | ( | const CPose2D & | init_Mean, |
const mrpt::math::CMatrixDouble33 & | init_Cov | ||
) |
Constructor.
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inlineexplicit |
Copy constructor, including transformations between other PDFs.
Definition at line 67 of file CPosePDFGaussian.h.
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inlineexplicit |
Copy constructor, including transformations between other PDFs.
Definition at line 70 of file CPosePDFGaussian.h.
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staticprotected |
void mrpt::poses::CPosePDFGaussian::assureMinCovariance | ( | const double & | minStdXY, |
const double & | minStdPhi | ||
) |
Substitutes the diagonal elements if (square) they are below some given minimum values (Use this before bayesianFusion, for example, to avoid inversion of singular matrixes, etc...)
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protected |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
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virtual |
Bayesian fusion of two points gauss.
distributions, then save the result in this object. The process is as follows:
S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );
Implements mrpt::poses::CPosePDF.
void mrpt::poses::CPosePDFGaussian::changeCoordinatesReference | ( | const CPose2D & | newReferenceBase | ) |
this = p (+) this.
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object.
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virtual |
this = p (+) this.
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object.
Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
void mrpt::poses::CPosePDFGaussian::composePoint | ( | const mrpt::math::TPoint2D & | l, |
CPoint2DPDFGaussian & | g | ||
) | const |
Returns the PDF of the 2D point
void mrpt::poses::CPosePDFGaussian::copyFrom | ( | const CPose3DPDF & | o | ) |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
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virtual |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPosePDF.
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static |
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static |
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virtual |
Draws a number of samples from the distribution, and saves as a list of 1x3 vectors, where each row contains a (x,y,phi) datum.
Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
void mrpt::poses::CPosePDFGaussian::drawSingleSample | ( | CPose2D & | outPart | ) | const |
Draws a single sample from the distribution.
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pure virtualinherited |
Draws a single sample from the distribution.
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virtual |
double mrpt::poses::CPosePDFGaussian::evaluateNormalizedPDF | ( | const CPose2D & | x | ) | const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
double mrpt::poses::CPosePDFGaussian::evaluatePDF | ( | const CPose2D & | x | ) | const |
Evaluates the PDF at a given point.
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 109 of file CPosePDF.h.
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inlineinherited |
Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)
Definition at line 100 of file CPosePDF.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 85 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 67 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 76 of file CProbabilityDensityFunction.h.
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inline |
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
Definition at line 82 of file CPosePDFGaussian.h.
References mean().
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pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 47 of file CProbabilityDensityFunction.h.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 136 of file CProbabilityDensityFunction.h.
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inlinevirtualinherited |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.
Definition at line 98 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
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inline |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
Definition at line 75 of file CPosePDFGaussian.h.
References mean().
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 57 of file CProbabilityDensityFunction.h.
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inline |
Definition at line 52 of file CPosePDFGaussian.h.
References mean().
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inline |
Definition at line 51 of file CPosePDFGaussian.h.
References mean().
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virtual |
Reimplemented from mrpt::poses::CPosePDF.
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virtual |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPosePDF.
void mrpt::poses::CPosePDFGaussian::inverseComposition | ( | const CPosePDFGaussian & | x, |
const CPosePDFGaussian & | ref | ||
) |
Set
void mrpt::poses::CPosePDFGaussian::inverseComposition | ( | const CPosePDFGaussian & | x1, |
const CPosePDFGaussian & | x0, | ||
const mrpt::math::CMatrixDouble33 & | COV_01 | ||
) |
Set
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inlinestaticinherited |
Definition at line 92 of file CPosePDF.h.
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inlinestaticinherited |
Definition at line 94 of file CPosePDF.h.
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staticinherited |
This static method computes the pose composition Jacobians, with these formulas:
Referenced by mrpt::math::jacobians::jacobs_2D_pose_comp().
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staticinherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
double mrpt::poses::CPosePDFGaussian::mahalanobisDistanceTo | ( | const CPosePDFGaussian & | theOther | ) |
Computes the Mahalanobis distance between the centers of two Gaussians.
void mrpt::poses::CPosePDFGaussian::operator+= | ( | const CPose2D & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
void mrpt::poses::CPosePDFGaussian::operator+= | ( | const CPosePDFGaussian & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).
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inline |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated)
Definition at line 162 of file CPosePDFGaussian.h.
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protected |
void mrpt::poses::CPosePDFGaussian::rotateCov | ( | const double | ang | ) |
Rotate the covariance matrix by replacing it by
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virtual |
Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines.
Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.
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protected |
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staticprotected |
Definition at line 35 of file CPosePDFGaussian.h.
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staticinherited |
Definition at line 41 of file CPosePDF.h.
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static |
Definition at line 35 of file CPosePDFGaussian.h.
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static |
Definition at line 35 of file CPosePDFGaussian.h.
mrpt::math::CMatrixDouble33 mrpt::poses::CPosePDFGaussian::cov |
The 3x3 covariance matrix.
Definition at line 47 of file CPosePDFGaussian.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist().
CPose2D mrpt::poses::CPosePDFGaussian::mean |
The mean value.
Definition at line 46 of file CPosePDFGaussian.h.
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staticinherited |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).
Definition at line 31 of file CProbabilityDensityFunction.h.
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